{"id":"https://openalex.org/W4285259547","doi":"https://doi.org/10.1109/tits.2022.3172926","title":"A Three-Level Game-Theoretic Decision-Making Framework for Autonomous Vehicles","display_name":"A Three-Level Game-Theoretic Decision-Making Framework for Autonomous Vehicles","publication_year":2022,"publication_date":"2022-05-24","ids":{"openalex":"https://openalex.org/W4285259547","doi":"https://doi.org/10.1109/tits.2022.3172926"},"language":"en","primary_location":{"id":"doi:10.1109/tits.2022.3172926","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tits.2022.3172926","pdf_url":null,"source":{"id":"https://openalex.org/S144771191","display_name":"IEEE Transactions on Intelligent Transportation Systems","issn_l":"1524-9050","issn":["1524-9050","1558-0016"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Intelligent Transportation Systems","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5059355181","display_name":"Mushuang Liu","orcid":null},"institutions":[{"id":"https://openalex.org/I189196454","display_name":"The University of Texas at Arlington","ror":"https://ror.org/019kgqr73","country_code":"US","type":"education","lineage":["https://openalex.org/I189196454"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Mushuang Liu","raw_affiliation_strings":["Department of Electrical Engineering, University of Texas at Arlington, Arlington, TX, USA"],"raw_orcid":"https://orcid.org/0000-0003-2678-4678","affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, University of Texas at Arlington, Arlington, TX, USA","institution_ids":["https://openalex.org/I189196454"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5029213376","display_name":"Yan Wan","orcid":"https://orcid.org/0000-0002-7508-5833"},"institutions":[{"id":"https://openalex.org/I189196454","display_name":"The University of Texas at Arlington","ror":"https://ror.org/019kgqr73","country_code":"US","type":"education","lineage":["https://openalex.org/I189196454"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Yan Wan","raw_affiliation_strings":["Department of Electrical Engineering, University of Texas at Arlington, Arlington, TX, USA"],"raw_orcid":"https://orcid.org/0000-0002-7508-5833","affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, University of Texas at Arlington, Arlington, TX, USA","institution_ids":["https://openalex.org/I189196454"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5016137188","display_name":"Frank L. Lewis","orcid":"https://orcid.org/0000-0003-4074-1615"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Frank L. Lewis","raw_affiliation_strings":["UTA Research Institute, University of Texas at Arlington, Fort Worth, TX, USA"],"raw_orcid":"https://orcid.org/0000-0003-4074-1615","affiliations":[{"raw_affiliation_string":"UTA Research Institute, University of Texas at Arlington, Fort Worth, TX, USA","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5061604841","display_name":"Subramanya Nageshrao","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Subramanya Nageshrao","raw_affiliation_strings":["Ford Greenfield Labs, Palo Alto, CA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Ford Greenfield Labs, Palo Alto, CA, USA","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5015550681","display_name":"Dimitar Filev","orcid":"https://orcid.org/0000-0001-7127-6782"},"institutions":[{"id":"https://openalex.org/I1292974536","display_name":"Ford Motor Company (United States)","ror":"https://ror.org/00g2tkw06","country_code":"US","type":"company","lineage":["https://openalex.org/I1292974536"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Dimitar Filev","raw_affiliation_strings":["Ford Research and Innovation Center, Dearborn, MI, USA"],"raw_orcid":"https://orcid.org/0000-0001-7127-6782","affiliations":[{"raw_affiliation_string":"Ford Research and Innovation Center, Dearborn, MI, USA","institution_ids":["https://openalex.org/I1292974536"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":4.4661,"has_fulltext":false,"cited_by_count":65,"citation_normalized_percentile":{"value":0.95418621,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":100},"biblio":{"volume":"23","issue":"11","first_page":"20298","last_page":"20308"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9998000264167786,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9998000264167786,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10524","display_name":"Traffic control and management","score":0.9997000098228455,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10370","display_name":"Traffic and Road Safety","score":0.9959999918937683,"subfield":{"id":"https://openalex.org/subfields/2213","display_name":"Safety, Risk, Reliability and Quality"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/intersection","display_name":"Intersection (aeronautics)","score":0.6561463475227356},{"id":"https://openalex.org/keywords/stochastic-game","display_name":"Stochastic game","score":0.6350456476211548},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6183310747146606},{"id":"https://openalex.org/keywords/game-theory","display_name":"Game theory","score":0.4987044334411621},{"id":"https://openalex.org/keywords/key","display_name":"Key (lock)","score":0.4851987659931183},{"id":"https://openalex.org/keywords/normal-form-game","display_name":"Normal-form game","score":0.4692753851413727},{"id":"https://openalex.org/keywords/sequential-game","display_name":"Sequential game","score":0.44418591260910034},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.43787774443626404},{"id":"https://openalex.org/keywords/computer-security","display_name":"Computer security","score":0.2752882242202759},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.21921178698539734},{"id":"https://openalex.org/keywords/transport-engineering","display_name":"Transport engineering","score":0.1318519413471222},{"id":"https://openalex.org/keywords/mathematical-economics","display_name":"Mathematical economics","score":0.12782517075538635},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.12581008672714233}],"concepts":[{"id":"https://openalex.org/C64543145","wikidata":"https://www.wikidata.org/wiki/Q162942","display_name":"Intersection (aeronautics)","level":2,"score":0.6561463475227356},{"id":"https://openalex.org/C22171661","wikidata":"https://www.wikidata.org/wiki/Q1074380","display_name":"Stochastic game","level":2,"score":0.6350456476211548},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6183310747146606},{"id":"https://openalex.org/C177142836","wikidata":"https://www.wikidata.org/wiki/Q44455","display_name":"Game theory","level":2,"score":0.4987044334411621},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.4851987659931183},{"id":"https://openalex.org/C155930848","wikidata":"https://www.wikidata.org/wiki/Q1069099","display_name":"Normal-form game","level":4,"score":0.4692753851413727},{"id":"https://openalex.org/C73795354","wikidata":"https://www.wikidata.org/wiki/Q287618","display_name":"Sequential game","level":3,"score":0.44418591260910034},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.43787774443626404},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.2752882242202759},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.21921178698539734},{"id":"https://openalex.org/C22212356","wikidata":"https://www.wikidata.org/wiki/Q775325","display_name":"Transport engineering","level":1,"score":0.1318519413471222},{"id":"https://openalex.org/C144237770","wikidata":"https://www.wikidata.org/wiki/Q747534","display_name":"Mathematical economics","level":1,"score":0.12782517075538635},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.12581008672714233}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tits.2022.3172926","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tits.2022.3172926","pdf_url":null,"source":{"id":"https://openalex.org/S144771191","display_name":"IEEE Transactions on Intelligent Transportation Systems","issn_l":"1524-9050","issn":["1524-9050","1558-0016"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Intelligent Transportation Systems","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.800000011920929,"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16"}],"awards":[{"id":"https://openalex.org/G1742339193","display_name":null,"funder_award_id":"W911NF-20-1-0132","funder_id":"https://openalex.org/F4320338281","funder_display_name":"Army Research Office"}],"funders":[{"id":"https://openalex.org/F4320338281","display_name":"Army Research Office","ror":"https://ror.org/05epdh915"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":33,"referenced_works":["https://openalex.org/W1967509108","https://openalex.org/W2015629195","https://openalex.org/W2044080979","https://openalex.org/W2055501135","https://openalex.org/W2064095948","https://openalex.org/W2088996369","https://openalex.org/W2090403203","https://openalex.org/W2101125181","https://openalex.org/W2108511252","https://openalex.org/W2132430805","https://openalex.org/W2166704994","https://openalex.org/W2171974638","https://openalex.org/W2344985987","https://openalex.org/W2565695588","https://openalex.org/W2567854370","https://openalex.org/W2749747771","https://openalex.org/W2795543364","https://openalex.org/W2900782701","https://openalex.org/W2915916313","https://openalex.org/W2925037331","https://openalex.org/W2962963881","https://openalex.org/W2963898834","https://openalex.org/W2991448601","https://openalex.org/W3017231019","https://openalex.org/W3091881817","https://openalex.org/W3105200428","https://openalex.org/W3107164117","https://openalex.org/W3122969078","https://openalex.org/W3156346125","https://openalex.org/W3158274639","https://openalex.org/W4210865858","https://openalex.org/W4252284432","https://openalex.org/W4297781990"],"related_works":["https://openalex.org/W2183914310","https://openalex.org/W2073992381","https://openalex.org/W3186986613","https://openalex.org/W1982178237","https://openalex.org/W2071306797","https://openalex.org/W2782762637","https://openalex.org/W2500523540","https://openalex.org/W2374666693","https://openalex.org/W1473969641","https://openalex.org/W2490394040"],"abstract_inverted_index":{"In":[0,140],"this":[1,23],"paper,":[2],"a":[3,27],"three-level":[4],"decision-making":[5],"framework":[6,25],"is":[7,26,130,158],"developed":[8,131,178],"to":[9,30,50,78,107,118,132,142,146,149,172],"generate":[10],"safe":[11],"and":[12,38,55,86,93,183],"effective":[13],"decisions":[14,82],"for":[15,164],"autonomous":[16],"vehicles":[17],"(AVs).":[18],"A":[19,127],"key":[20],"component":[21],"in":[22,44,98,114,180],"decision":[24],"normal-form":[28,46,166],"game":[29,47,73],"capture":[31,51],"the":[32,35,45,56,62,76,84,115,120,134,144,161,165,174,177],"interactions":[33],"between":[34],"ego":[36,77,121,145],"vehicle":[37],"its":[39,90],"surrounding":[40,91,151],"vehicles.":[41],"The":[42],"payoffs":[43,85],"are":[48,170],"designed":[49],"both":[52],"safety":[53],"reward":[54,57],"gained":[58],"by":[59,65],"obeying":[60],"(or":[61],"price":[63],"paid":[64],"violating)":[66],"\u201csoft\u201d":[67],"traffic":[68,105],"rules,":[69],"e.g.,":[70,124],"first-come-first-go.":[71],"This":[72],"formulation":[74],"enables":[75],"1)":[79],"make":[80],"appropriate":[81],"considering":[83],"possible":[87],"actions":[88,97],"of":[89,176],"vehicles,":[92],"2)":[94],"take":[95],"intelligent":[96],"emergencies":[99],"that":[100],"may":[101],"sacrifice":[102],"some":[103],"soft":[104],"rules":[106],"ensure":[108],"safety.":[109],"Moreover,":[110],"we":[111],"introduce":[112],"parameters":[113,136],"payoff":[116,162],"matrix":[117],"tune":[119],"vehicle\u2019s":[122],"behavior,":[123],"aggressiveness":[125],"level.":[126],"neural":[128],"network":[129],"learn":[133],"tuning":[135],"via":[137],"supervised":[138],"learning.":[139],"addition,":[141],"enable":[143],"respond":[147],"timely":[148],"different":[150],"vehicles\u2019":[152],"driving":[153,155],"styles,":[154],"style":[156],"characterization":[157],"incorporated":[159],"into":[160],"design":[163],"game.":[167],"Simulation":[168],"studies":[169],"conducted":[171],"demonstrate":[173],"performance":[175],"algorithms":[179],"two-vehicle":[181],"intersection-crossing":[182],"lane-changing":[184],"scenarios.":[185]},"counts_by_year":[{"year":2026,"cited_by_count":6},{"year":2025,"cited_by_count":30},{"year":2024,"cited_by_count":17},{"year":2023,"cited_by_count":11},{"year":2022,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}